Linear interpolation between two configurations. More...
#include <hpp/core/straight-path.hh>
Public Types | |
typedef Path | parent_t |
Public Member Functions | |
virtual | ~StraightPath () throw () |
Destructor. More... | |
virtual PathPtr_t | copy () const |
Return a shared pointer to this. More... | |
virtual PathPtr_t | extract (const interval_t &subInterval) const |
Extraction/Reversion of a sub-path. More... | |
void | initialConfig (ConfigurationIn_t initial) |
Modify initial configuration. More... | |
void | endConfig (ConfigurationIn_t end) |
Modify end configuration. More... | |
DevicePtr_t | device () const |
Return the internal robot. More... | |
Configuration_t | initial () const |
Get the initial configuration. More... | |
Configuration_t | end () const |
Get the final configuration. More... | |
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Configuration_t | operator() (const value_type &t) const throw () |
Configuration_t | operator() (const value_type &t, bool &success) const throw () |
bool | operator() (ConfigurationOut_t result, const value_type &t) const throw () |
size_type | outputSize () const |
Get size of configuration space. More... | |
size_type | outputDerivativeSize () const |
Get size of velocity. More... | |
const interval_t & | timeRange () const |
Get interval of definition. More... | |
value_type | length () const |
Get length of definition interval. More... | |
virtual | ~Path () throw () |
Destructor. More... | |
template<class T > | |
boost::shared_ptr< T > | as (void) |
Static cast into a derived type. More... | |
template<class T > | |
boost::shared_ptr< const T > | as (void) const |
Static cast into a derived type. More... | |
virtual PathPtr_t | reverse () const |
Reversion of a path. More... | |
const ConstraintSetPtr_t & | constraints () const |
Get constraints the path is subject to. More... | |
void | constraints (const ConstraintSetPtr_t &constraints) |
Set constraints the path is subject to. More... | |
Static Public Member Functions | |
static StraightPathPtr_t | create (const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type length) |
Create instance and return shared pointer. More... | |
Protected Member Functions | |
virtual std::ostream & | print (std::ostream &os) const |
Print path in a stream. More... | |
StraightPath (const DevicePtr_t &robot, ConfigurationIn_t init, ConfigurationIn_t end, value_type length) | |
Constructor. More... | |
StraightPath (const StraightPath &path) | |
Copy constructor. More... | |
void | init (StraightPathPtr_t self) |
virtual bool | impl_compute (ConfigurationOut_t result, value_type param) const |
Function evaluation. More... | |
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Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize) | |
Constructor. More... | |
Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize, const ConstraintSetPtr_t &constraints) | |
Constructor. More... | |
Path (const Path &path) | |
Copy constructor. More... | |
void | init (const PathPtr_t &self) |
Store weak pointer to itself. More... | |
Additional Inherited Members | |
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interval_t | timeRange_ |
Interval of definition. More... | |
Linear interpolation between two configurations.
Degrees of freedom are interpolated depending on the type of joint they parameterize:
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inlinevirtual |
Destructor.
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protected |
Constructor.
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protected |
Copy constructor.
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inlinevirtual |
Return a shared pointer to this.
As StaightPath are immutable, and refered to by shared pointers, they do not need to be copied.
Implements hpp::core::Path.
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inlinestatic |
Create instance and return shared pointer.
device | Robot corresponding to configurations |
init,end | Start and end configurations of the path |
length | Distance between the configurations. |
References init().
Referenced by hpp::core::SteeringMethodStraight::impl_compute().
DevicePtr_t hpp::core::StraightPath::device | ( | ) | const |
Return the internal robot.
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inlinevirtual |
Get the final configuration.
Implements hpp::core::Path.
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inline |
Modify end configuration.
end | new end configuration |
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virtual |
Extraction/Reversion of a sub-path.
subInterval | interval of definition of the extract path If upper bound of subInterval is smaller than lower bound, result is reversed. |
Reimplemented from hpp::core::Path.
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protectedvirtual |
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inlineprotected |
Referenced by create().
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inlinevirtual |
Get the initial configuration.
Implements hpp::core::Path.
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inline |
Modify initial configuration.
initial | new initial configuration |
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inlineprotectedvirtual |
Print path in a stream.
Implements hpp::core::Path.